Transport on complex networks: Flow, jamming and optimization

Many transport processes on networks depend crucially on the underlying network geometry, although the exact relationship between the structure of the network and the properties of transport processes remain elusive. In this paper we address this question by using numerical models in which both structure and dynamics are controlled systematically. We consider the traffic of information packets that include driving, searching and queuing. We present the results of extensive simulations on two classes of networks; a correlated cyclic scale-free network and an uncorrelated homogeneous weakly clustered network. By measuring different dynamical variables in the free flow regime we show how the global statistical properties of the transport are related to the temporal fluctuations at individual nodes (the traffic noise) and the links (the traffic flow). We then demonstrate that these two network classes appear as representative topologies for optimal traffic flow in the regimes of low density and high density traffic, respectively. We also determine statistical indicators of the pre-jamming regime on different network geometries and discuss the role of queuing and dynamical betweenness for the traffic congestion. The transition to the jammed traffic regime at a critical posting rate on different network topologies is studied as a phase transition with an appropriate order parameter. We also address several open theoretical problems related to the network dynamics

Measuring the dimension of partially embedded networks

Scaling phenomena have been intensively studied during the past decade in the context of complex networks. As part of these works, recently novel methods have appeared to measure the dimension of abstract and spatially embedded networks. In this paper we propose a new dimension measurement method for networks, which does not require global knowledge on the embedding of the nodes, instead it exploits link-wise information (link lengths, link delays or other physical quantities). Our method can be regarded as a generalization of the spectral dimension, that grasps the network's large-scale structure through local observations made by a random walker while traversing the links. We apply the presented method to synthetic and real-world networks, including road maps, the Internet infrastructure and the Gowalla geosocial network. We analyze the theoretically and empirically designated case when the length distribution of the links has the form P(r) ~ 1/r. We show that while previous dimension concepts are not applicable in this case, the new dimension measure still exhibits scaling with two distinct scaling regimes. Our observations suggest that the link length distribution is not sufficient in itself to entirely control the dimensionality of complex networks, and we show that the proposed measure provides information that complements other known measures

Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability